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ekf2: delete redundant aid src status getters

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This commit is contained in:
Daniel Agar
2023-10-18 15:21:51 -04:00
committed by GitHub
parent bdaf0acfca
commit 408c30de13
7 changed files with 275 additions and 356 deletions
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src/modules/ekf2/test/test_EKF_height_fusion.cpp
+2 -7
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@@ -198,13 +198,8 @@ TEST_F(EkfHeightFusionTest, gpsRef)
EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, baro_initial + baro_increment - gps_step, 0.2f);
// and the innovations are close to zero
float baro_innov = NAN;
_ekf->getBaroHgtInnov(baro_innov);
EXPECT_NEAR(baro_innov, 0.f, 0.2f);
float rng_innov = NAN;
_ekf->getRngHgtInnov(rng_innov);
EXPECT_NEAR(rng_innov, 0.f, 0.2f);
EXPECT_NEAR(_ekf->aid_src_baro_hgt().innovation, 0.f, 0.2f);
EXPECT_NEAR(_ekf->aid_src_rng_hgt().innovation, 0.f, 0.2f);
}
TEST_F(EkfHeightFusionTest, baroRefFailOver)